The invention provides a walking leg assembly, a walking device and a walking control method. The walking leg assembly comprises a walking leg support, a first walking foot, a second walking foot anda pressure sensor. The first walking foot and the second walking foot are arranged on the walking leg support, periodically move in the first direction and periodically move in the second direction. The first walking foot and the second walking foot alternately walk, and the first direction is the walking direction of the walking leg assembly. The pressure sensor is arranged on the walking leg support and used for detecting the value of the pressure exerted on the first walking foot and the second walking foot in the second direction, and accordingly the walking leg assembly can adjust the moving landing situation of the first walking foot and the second walking foot in the second direction according to the detection value of the pressure sensor. Since walking leg assembly walking moving is not assisted through a spring, the shaking situation of the walking leg assembly in the walking moving process is reduced, and stable walking of the walking leg assembly is facilitated.
本申请提供一种行走腿组件、行走装置和行走控制方法。行走腿组件包括行走腿支架、第一行走足、第二行走足以及压力传感器。第一行走足和第二行走足安装于行走腿支架,并沿第一方向进行周期性运动,以及沿第二方向进行周期性运动,且第一行走足和第二行走足交替地行走,第一方向为行走腿组件的行走方向。压力传感器安装于行走腿支架,用于检测第一行走足和第二行走足所受到的沿第二方向的压力值,有助于行走腿组件可以通过压力传感器的检测值来调整第一行走足和第二行走足沿第二方向运动的着地情况,由于行走腿组件没有利用弹簧来辅助行走移动,减少了行走腿组件行走移动过程的晃动情况,有助于行走腿组件的平稳行走。
Walking leg assembly, walking device and walking control method
行走腿组件、行走装置和行走控制方法
2020-06-23
Patent
Electronic Resource
Chinese
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